Learning Symbolic Operators for Task and Motion Planning
Tom Silver,Rohan Chitnis,Joshua Tenenbaum,Leslie Pack Kaelbling,Tomás Lozano-Pérez,Tom Silver,Rohan Chitnis,Joshua Tenenbaum,Leslie Pack Kaelbling,Tomás Lozano-Pérez
Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely on domain-specific symbolic operators to guide the task-level search, making planning efficient. In this work, we formalize and study the problem of operator l...
